CN103170963A - Two-arm manipulator - Google Patents
Two-arm manipulator Download PDFInfo
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- CN103170963A CN103170963A CN2013100909058A CN201310090905A CN103170963A CN 103170963 A CN103170963 A CN 103170963A CN 2013100909058 A CN2013100909058 A CN 2013100909058A CN 201310090905 A CN201310090905 A CN 201310090905A CN 103170963 A CN103170963 A CN 103170963A
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- rotating seat
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- 238000009434 installation Methods 0.000 claims abstract description 12
- 238000005065 mining Methods 0.000 abstract description 7
- 239000003245 coal Substances 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract 1
- 240000009087 Crescentia cujete Species 0.000 description 1
- 235000005983 Crescentia cujete Nutrition 0.000 description 1
- 235000009797 Lagenaria vulgaris Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The invention belongs to the field of machinery, and particularly relates to a two-arm manipulator which is suitable for installation and disassembly of various devices on a comprehensive mechanized coal mining face under a pit and solves the problems that in the installation and disassembly process of various devices on the comprehensive mechanized coal mining face under the pit, flexibility is poor, labor intensity is low, labor intensity of workers is large, and the like. The two-arm manipulator comprises sub rotating seats, a main rotating seat, lifting telescopic legs, walking wheels, a main body platform and crane arms. The two-arm manipulator is characterized in that the main rotating seat is connected with the main body platform through a shaft, the sub rotating seats are connected with the main rotating seat through a shaft, the sub rotating seats are provided with the crane arms, the lifting telescopic legs which are controlled by an oil cylinder to lift are arranged on the main body platform, and the bottom of the main body platform is provided with the walking wheels which are controlled by the oil cylinder to lift. The two-arm manipulator is controlled in a full hydraulic mode, finishes installation and disassembly operations of the various devices through control of the hydraulic operation platform, and provides reliable guarantee for the installation and disassembly operations under the pit.
Description
Technical field
The present invention relates to mechanical field, be specially a kind of dual-arm robot, be applicable to the installation, dismounting of various device in down-hole combined mining working etc.
Background technology
At present, the installation and removal of various device in domestic each colliery down-hole combined mining working generally uses light instrument (as: pulling the calabash well-pulley), has following point:
1, the people must operated by under the heavy mail that lifts by crane, and safety is compromised;
2, to large by the adjustment of hoist article, decomposition, assembly working difficulty;
3, efficiency is low, and labor strength is large, drops into the labour many.
(patent No.: 91217179.0) disclose a kind of underwell assembling platform of hydraulic support, this patent adopts crown-block type structure to Chinese utility model patent, need account for tool larger space during the lifting thing; When also having hoist article, also occupy certain altitude (accumulative total is highly more than 1 meter) with single hook or double hook, lifting rope, reductor slideway etc.; In addition, four jiaos of lifting ropes can not rise separately or fall, and due to the restriction of down-hole height, thereby use this equipment to need deeply dig assembling cavern, down-hole, namely be difficult for realizing in the down-hole.
The utilization of manipulator is increasingly extensive, and the running by manipulator greatly reduces human resources, and workload has also promoted a lot, but in many transportations, because the stroke of transportation is far away, manipulator is so not long, so certain limitation is arranged in transportation.
Chinese utility model patent (the patent No.: the manipulator that 99237347.6) discloses a kind of automatic clamping, discharging, this device mainly comprises: mechanical paw, pivot pin, top board, mechanical wrist, friction pulley, roller, spring etc., after workpiece enters mechanical paw, under the effect of spring, top board contacts with manipulator and compresses downwards, forces mechanical paw to rotate and clamping work.Its weak point is to only have a paw, and inefficiency is reliable to the clamping underaction of workpiece.And, because its balance is relatively poor, be not suitable for installation, the dismounting of the various device in down-hole combined mining working.
Summary of the invention
The object of the present invention is to provide a kind of dual-arm robot, solve various device in down-hole combined mining working installation, remove the problem such as flexibility is relatively poor, and efficiency is low, and labor strength is large.
Technical scheme of the present invention is:
A kind of dual-arm robot, this dual-arm robot comprises: minute rotating seat, main rotating seat, lift telescopic leg, road wheel, main platform, lifting arm, concrete structure is as follows:
Main rotating seat is connected by axle with main platform, and a minute rotating seat is connected by axle with main rotating seat, on minute rotating seat, lifting arm is installed; The lift telescopic leg of controlling lifting by oil cylinder is installed on main platform, and the road wheel of lifting is controlled in main platform bottom installation by oil cylinder.
Described dual-arm robot, lifting arm comprise principal arm, auxiliary, lifting head, and an end of principal arm is hinged with minute rotating seat, and an end of the other end of principal arm and auxiliary is slidably connected in the mode of plug-in mounting, and the other end of auxiliary is installed the lifting head.
Described dual-arm robot is equipped with hoist cylinder, telescopic oil cylinder on lifting arm, an end of hoist cylinder is hinged with minute rotating seat, and the other end and the principal arm of hoist cylinder are hinged; One end and the principal arm of telescopic oil cylinder are hinged, and the other end of principal arm is hinged with lifting.
Described dual-arm robot, a minute rotating seat is two: minute rotating seat I, minute rotating seat II, the lifting arm I is installed on minute rotating seat I, the lifting arm II is installed on minute rotating seat II.
Described dual-arm robot also comprises the lifting round-link chain, and the pulley of lifting round-link chain in the lifting head drawn, and the exit of lifting round-link chain is installed gib head.
Described dual-arm robot, the lift telescopic leg is four: lift telescopic leg I, lift telescopic leg II, lift telescopic leg III and lift telescopic leg IV, lift telescopic leg I, lift telescopic leg II, lift telescopic leg III and lift telescopic leg IV lay respectively at four jiaos of main platform.
Described dual-arm robot, road wheel are four, coordinate with rail.
The invention has the beneficial effects as follows:
1, dual-arm robot of the present invention has two lifting arms, can be used for fully-mechanized mining equipment installation and dismounting under coal mine, as: assembling and disassembling frame head of reloading machine, tail, motor, reductor, drag conveyor etc. have the characteristics such as the both arms lifting is flexible, balance is good, rotate freely, walking is safe, reliable, simple in structure, time saving and energy saving.
2, dual-arm robot of the present invention is all-hydraulic control, by the control of hydraulic operation platform, completes the assembling and disassembling work of various device, for install the down-hole, dismounting work provides reliable guarantee.
Description of drawings
Fig. 1 is the structural representation of dual-arm robot of the present invention.
Fig. 2 is the top view of Fig. 1.
In figure, 1 minute rotating seat; 2 main rotating seats; 3 lift telescopic leg I; 4 road wheels; 5 lift telescopic leg II; 6 principal arms; 7 auxiliarys; 8 hoist cylinders; 9 lifting arm I; 10 lifting arm II; 11 lift telescopic leg III; 12 lift telescopic leg IV; 13 minutes rotating seat I; 14 minutes rotating seat II; 15 main platforms; 16 telescopic oil cylinders; 17 lifting arms; 18 lifting heads.
The specific embodiment
As Fig. 1-shown in Figure 2, dual-arm robot of the present invention mainly comprises: a minute rotating seat 1(divides rotating seat I 13, minute rotating seat II 14), main rotating seat 2, lift telescopic leg (lift telescopic leg I 3, lift telescopic leg II 5, lift telescopic leg III 11 and lift telescopic leg IV 12), road wheel 4, principal arm 6, auxiliary 7, hoist cylinder 8, main platform 15, telescopic oil cylinder 16, lifting arm 17(lifting arm I 9, lifting arm II 10), lifting 18 etc., concrete structure is as follows:
Main rotating seat 2 is connected by axle with main platform 15, and main rotating seat 2 can rotate on main platform 15; Divide rotating seat 1 to be connected by axle with main rotating seat 2, lifting arm 17 is installed on minute rotating seat 1, a minute rotating seat 1 can drive lifting arm 17 around main rotating seat 2 rotations.Dividing rotating seat 1 is two: minute rotating seat I 13, minute rotating seat II 14, divide lifting arm I 9 is installed on rotating seat I 13, lifting arm II 10 is installed on minute rotating seat II 14, can controls as required lifting arm I 9, lifting arm II 10 respectively around minute rotating seat I 13 and a minute rotating seat II 14 swing (Fig. 2).Wherein, lifting arm 17 comprises principal arm 6, auxiliary 7, lifting 18, one end of principal arm 6 is hinged with minute rotating seat 1, one end of the other end of principal arm 6 and auxiliary 7 is slidably connected in the mode of plug-in mounting, auxiliary 7 can reciprocatingly slide along principal arm 6, and the other end of auxiliary 7 is installed lifting 18, and the pulley of lifting round-link chain in lifting 18 drawn, the exit of lifting round-link chain is installed gib head, is used for lifting.Hoist cylinder 8, telescopic oil cylinder 16 are installed on lifting arm 17, and an end of hoist cylinder 8 is hinged with minute rotating seat 1, and the other end of hoist cylinder 8 and principal arm 6 are hinged, controls principal arm 6 by hoist cylinder 8 and drives lifting arm 17 liftings; One end and the principal arm 6 of telescopic oil cylinder 16 are hinged, and the other end of principal arm 6 is hinged with lifting 18, control auxiliarys 7 by telescopic oil cylinder 16 and 6 reciprocatingly slide along principal arm 6 along principal arm.
Lift telescopic leg (lift telescopic leg I 3, lift telescopic leg II 5, lift telescopic leg III 11 and lift telescopic leg IV 12) is installed on main platform 15, lift telescopic leg I 3, lift telescopic leg II 5, lift telescopic leg III 11 and lift telescopic leg IV 12 lay respectively at four jiaos of main platform 15, control the lifting of lift telescopic leg by oil cylinder.Four liftable road wheels 4 are installed in main platform 15 bottoms, control road wheel 4 liftings by oil cylinder.When dual-arm robot was walked, road wheel 4 descended, and the lift telescopic leg lifts, and draws main platform by winch, and dual-arm robot is walked on rail by road wheel.In the installation of carrying out various device, when removing, road wheel 4 lifts, and the lift telescopic leg drops to ground, and lifting arm 17 is started working.
Design feature of the present invention and operation principle are:
Dual-arm robot of the present invention is comprised of lifting arm (principal arm, auxiliary), minute rotating seat, main rotating seat, lift telescopic leg, road wheel and hydraulic control system thereof etc., this equipment has four groups of liftable road wheels, can walk on the rail of 600mm gauge by road wheel; Road wheel is fallen, after drawing main platform dual-arm robot be transported to working face by winch, there is the lift telescopic leg of four groups of telescopic liftings to stretch out ground connection, road wheel is regained, equipment connects the top, and lift telescopic leg and equipment body are hinged by hydraulic cylinder, makes the Whole Equipment certain altitude that can raise on orbital plane, the down-hole idler can be passed through under equipment, be convenient to that everything goes well with your work carries out.
The technical parameter of dual-arm robot of the present invention is as follows:
Result shows, hinged two groups of lifting arms (lifting arm I and lifting arm II) on the main rotating seat of dual-arm robot of the present invention, and integral body can be rotated 280 degree, rotatable 60 degree of single lifting arm.Thereby, conveniently hang the workpiece of getting diverse location, working range is large, and applicability is more extensive.
Claims (7)
1. a dual-arm robot, is characterized in that, this dual-arm robot comprises: minute rotating seat, main rotating seat, lift telescopic leg, road wheel, main platform, lifting arm, and concrete structure is as follows:
Main rotating seat is connected by axle with main platform, and a minute rotating seat is connected by axle with main rotating seat, on minute rotating seat, lifting arm is installed; The lift telescopic leg of controlling lifting by oil cylinder is installed on main platform, and the road wheel of lifting is controlled in main platform bottom installation by oil cylinder.
2. according to dual-arm robot claimed in claim 1, it is characterized in that, lifting arm comprises principal arm, auxiliary, lifting head, and an end of principal arm is hinged with minute rotating seat, one end of the other end of principal arm and auxiliary is slidably connected in the mode of plug-in mounting, and the other end of auxiliary is installed the lifting head.
3. according to dual-arm robot claimed in claim 1, it is characterized in that, hoist cylinder, telescopic oil cylinder are installed on lifting arm, an end of hoist cylinder is hinged with minute rotating seat, and the other end and the principal arm of hoist cylinder are hinged; One end and the principal arm of telescopic oil cylinder are hinged, and the other end of principal arm is hinged with lifting.
4. according to the described dual-arm robot of one of claim 1-3, it is characterized in that, a minute rotating seat is two: minute rotating seat I, minute rotating seat II, the lifting arm I is installed on minute rotating seat I, and the lifting arm II is installed on minute rotating seat II.
5. according to dual-arm robot claimed in claim 1, it is characterized in that, also comprise the lifting round-link chain, the pulley of lifting round-link chain in the lifting head drawn, and the exit of lifting round-link chain is installed gib head.
6. according to dual-arm robot claimed in claim 1, it is characterized in that, the lift telescopic leg is four: lift telescopic leg I, lift telescopic leg II, lift telescopic leg III and lift telescopic leg IV, lift telescopic leg I, lift telescopic leg II, lift telescopic leg III and lift telescopic leg IV lay respectively at four jiaos of main platform.
7. according to dual-arm robot claimed in claim 1, it is characterized in that, road wheel is four, coordinates with rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310090905.8A CN103170963B (en) | 2013-03-20 | 2013-03-20 | Dual-arm robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310090905.8A CN103170963B (en) | 2013-03-20 | 2013-03-20 | Dual-arm robot |
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| Publication Number | Publication Date |
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| CN103170963A true CN103170963A (en) | 2013-06-26 |
| CN103170963B CN103170963B (en) | 2015-08-05 |
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| CN201310090905.8A Active CN103170963B (en) | 2013-03-20 | 2013-03-20 | Dual-arm robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959974A (en) * | 2015-07-13 | 2015-10-07 | 资阳市精工机械有限公司 | Hydraulic double cantilever type mechanical arm |
| CN106185370A (en) * | 2016-08-18 | 2016-12-07 | 武汉地和智能有限公司 | A kind of harbour automatic loading/unloading conveying device |
| CN106625595A (en) * | 2016-12-19 | 2017-05-10 | 上海大学 | Economical and efficient robot arm |
| CN108275597A (en) * | 2018-02-10 | 2018-07-13 | 辽宁工程技术大学 | A kind of mini-plant boom hoisting and application method suitable for fully-mechanized mining working |
| CN112158744A (en) * | 2020-11-03 | 2021-01-01 | 辽宁威跃集团机械制造有限公司 | Crawler-type double-arm hoisting device |
| CN112791423A (en) * | 2021-01-29 | 2021-05-14 | 中山市金龙游乐设备有限公司 | Movable pendulum amusement equipment |
| CN114919943A (en) * | 2022-05-30 | 2022-08-19 | 内蒙古自治区烟草公司呼和浩特市公司 | Automatic recognition unloading device and unloading method thereof |
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|---|---|---|---|---|
| JPS6138883A (en) * | 1984-07-31 | 1986-02-24 | ぺんてる株式会社 | Double arm type robot |
| EP0478916A1 (en) * | 1990-10-02 | 1992-04-08 | PANTHER GmbH, HERSTELLUNG, VERTRIEB UND VERLEIH FILMTECHNISCHER GERÄTE | Camera crane |
| JPH0986875A (en) * | 1995-09-27 | 1997-03-31 | Sumitomo Constr Mach Co Ltd | Travelling crane |
| WO2008143584A1 (en) * | 2007-05-23 | 2008-11-27 | Cargotec Patenter Ab | Hydraulic crane and a method for regulating the maximum allowed working pressure in such a crane |
| CN102320527A (en) * | 2011-09-29 | 2012-01-18 | 长沙中联重工科技发展股份有限公司 | Counterweight balancing mechanism and double-cantilever crane |
| CN202292769U (en) * | 2011-10-25 | 2012-07-04 | 无锡毅和帮自动化设备有限公司 | Link-type dual-arm operating manipulator |
| CN102602820A (en) * | 2012-03-28 | 2012-07-25 | 兖矿集团有限公司 | Installation and removal crane for mining devices |
| CN203228225U (en) * | 2013-03-20 | 2013-10-09 | 辽宁威跃集团机械制造有限公司 | Two-arm manipulator |
-
2013
- 2013-03-20 CN CN201310090905.8A patent/CN103170963B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6138883A (en) * | 1984-07-31 | 1986-02-24 | ぺんてる株式会社 | Double arm type robot |
| EP0478916A1 (en) * | 1990-10-02 | 1992-04-08 | PANTHER GmbH, HERSTELLUNG, VERTRIEB UND VERLEIH FILMTECHNISCHER GERÄTE | Camera crane |
| JPH0986875A (en) * | 1995-09-27 | 1997-03-31 | Sumitomo Constr Mach Co Ltd | Travelling crane |
| WO2008143584A1 (en) * | 2007-05-23 | 2008-11-27 | Cargotec Patenter Ab | Hydraulic crane and a method for regulating the maximum allowed working pressure in such a crane |
| CN102320527A (en) * | 2011-09-29 | 2012-01-18 | 长沙中联重工科技发展股份有限公司 | Counterweight balancing mechanism and double-cantilever crane |
| CN202292769U (en) * | 2011-10-25 | 2012-07-04 | 无锡毅和帮自动化设备有限公司 | Link-type dual-arm operating manipulator |
| CN102602820A (en) * | 2012-03-28 | 2012-07-25 | 兖矿集团有限公司 | Installation and removal crane for mining devices |
| CN203228225U (en) * | 2013-03-20 | 2013-10-09 | 辽宁威跃集团机械制造有限公司 | Two-arm manipulator |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959974A (en) * | 2015-07-13 | 2015-10-07 | 资阳市精工机械有限公司 | Hydraulic double cantilever type mechanical arm |
| CN106185370A (en) * | 2016-08-18 | 2016-12-07 | 武汉地和智能有限公司 | A kind of harbour automatic loading/unloading conveying device |
| CN106185370B (en) * | 2016-08-18 | 2018-08-07 | 武汉地和智能有限公司 | A kind of harbour automatic loading/unloading conveying device |
| CN106625595A (en) * | 2016-12-19 | 2017-05-10 | 上海大学 | Economical and efficient robot arm |
| CN108275597A (en) * | 2018-02-10 | 2018-07-13 | 辽宁工程技术大学 | A kind of mini-plant boom hoisting and application method suitable for fully-mechanized mining working |
| CN112158744A (en) * | 2020-11-03 | 2021-01-01 | 辽宁威跃集团机械制造有限公司 | Crawler-type double-arm hoisting device |
| CN112791423A (en) * | 2021-01-29 | 2021-05-14 | 中山市金龙游乐设备有限公司 | Movable pendulum amusement equipment |
| CN112791423B (en) * | 2021-01-29 | 2024-05-24 | 中山市金龙游乐设备有限公司 | Portable pendulum amusement equipment |
| CN114919943A (en) * | 2022-05-30 | 2022-08-19 | 内蒙古自治区烟草公司呼和浩特市公司 | Automatic recognition unloading device and unloading method thereof |
| CN114919943B (en) * | 2022-05-30 | 2024-04-30 | 内蒙古自治区烟草公司呼和浩特市公司 | Automatic recognition unloading device and unloading method thereof |
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| Publication number | Publication date |
|---|---|
| CN103170963B (en) | 2015-08-05 |
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